KR102170469B1 - A system for preventing collision between tower cranes using relative velocity and absolute velocity and a method of preventing collision between tower cranes using the same - Google Patents

Abstract

The present invention relates to a tower crane collision avoidance system using relative speed and absolute speed, and a method of preventing collision of tower crane using the same. The present invention calculates the distance between tower cranes by calculating the direction detection unit collecting the movement direction data of the tower crane, the speed detection unit collecting the movement speed data of the tower crane, the movement path of the tower crane in real time, and the tower cranes collide with each other. When entering a dangerous area where there is concern, the control unit that transmits a danger signal when the speed after entry is higher than the speed before entry or when the safety speed is higher, an alarm display unit that sounds an alarm by receiving a danger signal from the control unit and displays the collision path, from the control unit It may include a storage unit for receiving the danger signal and receiving and storing the operation state of the tower crane from the remote terminal and the control unit.

Description

A SYSTEM FOR PREVENTING COLLISION BETWEEN TOWER CRANES USING RELATIVE VELOCITY AND ABSOLUTE VELOCITY AND A METHOD OF PREVENTING COLLISION BETWEEN TOWER CRANES USING THE SAME}

The present invention relates to a tower crane collision avoidance system. More specifically, in addition to collision prevention according to the existing proximity distance, collisions between tower cranes can be more stably prevented by using the relative speed (relative speed before and after entering the danger zone) and absolute speed (safe speed) of the tower crane. The present invention relates to a collision avoidance system and a method for preventing collision between tower cranes using such a system.

The tower crane that lifts materials at the construction site consists of an upper part for turning, advancing and reversing the trolley, lifting and lowering of the roughing, lifting and lowering the hoist, and a mast supporting the upper part. Tower cranes are divided into T-type tower cranes and roughing-type tower cranes according to the jib operation type. The roughing tower crane can rotate 360 degrees by lifting the jib (roughing) if there is a building within the turning radius.

Tower cranes are used alone or in multiple installations at construction and industrial sites, and there is a risk of collision between tower cranes when operating in an area where the working radius of a specific tower crane overlaps the working radius of another tower crane. In other words, it may collide with the hoist wire of a high tower crane and a jib or counter jib of a low tower crane, and if a tower crane of the same height is installed, or if a T-type tower crane and a roughing-type tower crane are installed together, the jib and the jib, There is a risk of collision between the jib and counter jib. In addition, if there are dangerous structures such as railways, buildings, transformers, etc. within the working radius of the tower crane, there is a risk of collision with the dangerous structures while lifting construction materials above the dangerous structures. There is a risk that a jib or counter jib collides with a hoist wire or a hook between tower cranes in which the turning radius (orbiting orbit) overlaps (see FIG. 4).

When a tower crane collides, it may cause the tower crane to overturn and the salvage to fall, and personal and large-scale damage may occur. For this reason, there is an increasing request for the development of technology that can prevent safety accidents by detecting and monitoring the movement of the tower crane during operation of the tower crane, detecting the risk of collision between tower cranes, and automatically alerting the tower crane driver.

The existing tower crane collision avoidance alarm system detects the distance between the tower crane and the adjacent tower crane or adjacent structure, and simply reduces the speed of the tower crane's movement when the distance between the two reaches the collision risk distance or the collision risk angle. Or stopping the movement of the tower crane.

However, abnormal motions such as not sufficiently decelerating or accelerating in the collision direction within the collision risk distance may occur within the collision risk distance. In this case, information on the collision risk distance or the speed before reaching the collision risk angle may be obtained. Because there is no way to determine the speed displacement after arrival, and even if it is decelerated, it is not possible to check whether it has decelerated below the safety speed individually set for each tower crane.

After repeating research, it detects the speed and displacement before and after reaching the collision risk distance or the collision risk angle, and precisely alarms and controls the movement of the tower crane, thereby preventing the tower crane from colliding. The system was completed.

1. Korean Patent Publication No. 10-2011-0004524 (2011.01.14.) 2. Korean Registered Patent Publication No. 10-1601644 (2016.03.03.)

An object of the present invention is to provide a tower crane collision avoidance system that can substantially prevent a collision of a tower crane by precisely alarming and controlling the tower crane according to its movement.

In addition, an object of the present invention is to provide a method capable of preventing a collision of a tower crane by precisely alarming and controlling the movement of the tower crane.

According to an aspect of the present invention, it has a direction sensor capable of detecting the moving direction of the tower crane, and has a direction sensing unit that collects moving direction data of the tower crane, and a speed sensor capable of detecting the moving speed of the tower crane. Based on the speed detection unit that collects the movement speed data of the tower crane, the coordinate data of the tower crane, the structure data of the tower crane, the movement data of the tower crane obtained from the direction detection unit, and the movement speed data of the tower crane obtained from the speed detection unit, The distance between the tower cranes is calculated by calculating the travel path of the tower crane in real time, and when the tower crane enters a dangerous area where there is a risk of collision with each other, a danger signal is transmitted when the speed after entry is greater than the pre-entry speed or above the safe speed A tower crane including a control unit that receives a dangerous signal from the control unit, an alarm display unit that sounds an alarm and displays a collision path, and a storage unit that receives and stores the operation state of the tower crane from the remote terminal unit and the control unit by receiving a dangerous signal from the control unit. It may be a collision avoidance system.

The tower crane is a T-type tower crane, and the direction sensor detects the turning direction of the tower crane and the moving direction of the trolley, and the speed sensor detects the turning speed of the tower crane and the moving speed of the trolley. Calculate the predicted collision path between jib and jib, jib and counter jib, counter jib and counter jib, and calculate the trolley position of the high tower crane and the predicted collision path with the jib or counter jib of the lower tower crane between tower cranes of different heights. I can.

The tower crane is a roughing-type tower crane, and has a roughing sensor that detects the roughing undulation angle, and further includes a roughing angle detection unit that collects data on the roughing angle, and the direction sensor is the turning direction of the tower crane and the vertical movement direction of the jib. (Roughing direction) is sensed, and the speed sensor detects the tower crane's turning speed and the vertical movement speed of the jib (roughing speed), and the controller detects the roughing position of the high tower crane and the jib or counter jib of the low tower crane. You can calculate the expected collision path.

Another aspect of the present invention is a method of preventing a collision of a tower crane using a tower crane collision avoidance system on the front side, the step of detecting the moving direction and speed of the tower crane, coordinate data of the tower crane, The step of determining whether or not the tower crane has entered the danger zone where the tower crane may collide based on the structure data, the tower crane movement direction data, and the tower crane movement speed data, and when entering the danger zone, the speed after entry is greater than the speed before entry. Or, it may be a tower crane collision avoidance method comprising the step of sounding an alarm when it is above the safe speed.

According to the present invention, by setting a safe speed for each tower crane, detecting and controlling the speed before and after reaching the collision risk distance or the collision risk angle, and the displacement thereof, a tower crane capable of realizing substantial collision prevention through precise warning and control. A collision avoidance system can be provided.

In addition, according to the present invention, it is possible to provide a tower crane collision avoidance system in which a safety manager can remotely check an operation state even in the case of a tower crane performing high place work.

In addition, by detecting the speed of turning, roughing, and trolley, when entering the collision risk distance according to the operation performance and operation situation of each tower crane, whether or not it is decelerated according to the relative speed compared to the pre-entry speed, and the operation will be less than the absolute set speed (safe speed). The tower crane driver can be automatically alerted so that the tower crane can operate safely and prevent accidents.

In addition, according to the present invention, the tower crane operation record can be stored and utilized for safety management.

In addition, according to the present invention, it is possible to provide a method capable of substantially preventing collisions between tower cranes by detecting the speed and displacement before and after reaching the collision risk distance and angle of the tower crane and precisely controlling the tower crane.

1 is a schematic diagram schematically showing the structure of a T-type tower crane.
2 is a schematic diagram showing the motion of the T-type tower crane, that is, the turning operation and the operation of the trolley.
3 is a schematic diagram showing a roughing-type tower crane movement, that is, a turning operation and a roughing operation.
4 is a schematic diagram showing a collision situation between tower cranes.
5 is a schematic diagram schematically showing a collision situation between a tower crane and a structure.
6 is a schematic diagram schematically showing the sequence of a tower crane collision avoidance method according to an aspect of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiments of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. Embodiments of the present invention are provided in order to more completely describe the present invention to those having average knowledge in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation, and elements indicated by the same reference numerals in the drawings are the same elements.

1 schematically shows the structure of a T-type tower crane. 2 schematically shows the movement of the T-type tower crane, that is, the swinging operation and the operation of the trolley. 3 schematically illustrates the motion of the roughing tower crane, that is, the turning operation and the roughing operation. Figure 4 schematically shows a collision situation between tower cranes. 5 schematically shows the collision situation between the tower crane and the structure. 6 schematically shows the sequence of a tower crane collision avoidance method according to an aspect of the present invention.

1 and 2, the T-type tower crane has a steel structure mast 100 installed on the top of an anchor fixed to the ground, a cab 102 installed on the top of the mast 100, and a cab 102. It may include a truss structure jib (jib, 103) and a counter jib (counter jib, 107) that are respectively connected before and after.

A trolley 104 traversing the jib 103 is installed on the jib 103, and a hook 106 may be installed on the hoist wire 105 lowered from the trolley 104. The hook 106 can be loaded with loads to perform a hoisting operation. A counter weight for weight balance may be installed at the rear of the counter jib 15. Structures above the mast part 100, that is, the cab 102, the jib 103, the counter jib 107, etc. may perform a turning (rotation) operation on the mast part 100.

The jib length of the T-type tower crane may be generally 70m to 80m. A trolley is mounted on the jib, and the trolley can move forward and backward on the jib. The trolley can be connected with a hoist wire. The hoisting movement and the hoisting movement are possible through the organic combination of the tower crane's turning motion and the trolley's forward and backward motion.

Referring to FIG. 3, the roughing-type tower crane has a similar structure to that of the T-type tower crane, except that the jib moves up and down (roughing operation). The roughing tower crane can also swing left and right, and the hook connected to the hoist wire can move up and down.

Referring to FIGS. 4 and 5, it can be seen that there is a risk that elliptical cranes may collide with each other during operation between adjacent tower cranes. That is, it can be seen that there is a risk of collision between the hoist wire of the high tower crane and the jib or counter jib of the low tower crane, and also there is a risk of collision with nearby structures.

The tower crane collision avoidance system according to an aspect of the present invention is based on a direction sensing unit that detects the moving direction of the tower crane, a speed sensing unit that detects the moving speed of the tower crane, data obtained from the direction sensing unit or the speed sensing unit, and various other data. Accordingly, it may include a control unit that determines and controls whether to issue an alarm, an alarm display unit that displays an alarm, and a storage unit that stores information such as an operation state of the tower crane.

The direction detecting unit may have a direction sensor capable of detecting the moving direction of the tower crane. It can be mounted on a part that can effectively detect the direction of the tower crane movement. Information on the direction of movement of the tower crane can be obtained using a direction sensor. The movement direction or movement direction of the tower crane can be described with the following example. In the case of a T-type tower crane, this may correspond to whether the tower crane turns left or right, in which direction the trolley moves back and forth, and in which direction the hook moves up and down. In the case of a roughing type tower crane, this may correspond to which direction the tower crane rotates left or right, and which direction the roughing operation is performed up and down.

The speed sensing unit may have a speed sensor capable of detecting the moving speed of the tower crane. The speed sensor can be used to obtain data or information on the moving speed or moving speed of the tower crane. For example, in the case of a T-type tower crane, it is possible to detect the speed at which the tower crane is turning, the speed of movement of the trolley back and forth, and the speed of movement of the hook up and down. In the case of a roughing-type tower crane, it is possible to detect the speed at which the tower crane is turning, and the speed of the roughing operation (change of the undulation angle).

It is common to measure the tower crane turning angle through a contact method using a contact encoder. In addition, a non-contact method may be used, and among these non-contact methods, GPS or a geomagnetic sensor may be used.

The control unit can determine whether to issue an alarm based on various types of information or data, and can alarm and control it. The main basic data used may be the coordinate data of the tower crane, the structure data of the tower crane, the movement data of the tower crane obtained from the direction detection unit, and the movement speed data of the tower crane obtained from the speed detection unit. However, it is not limited to such data or information, and other information or data may be used.

In order to calculate the collision risk of a tower crane, 1) installation specifications of the tower crane such as jib length, counter jib length, roughing length, and installation height, 2) tower crane arrangement coordinates, 3) structure arrangement coordinates and height, 4) tower crane Information on the movement (turning angle, trolley position in T-type tower crane, roughing angle in roughing type tower crane) is required. Here, in case of 1), 2), and 3), it is determined in advance, but in case of 4), the tower crane motion data in real time by installing sensors such as a turning sensor, trolley distance sensor, and roughing sensor on the tower crane. It can be obtained by collecting.

In general, a plurality of tower cranes are installed on a construction site, and there is a fear that the tower cranes collide with each other when the working radius of one tower crane and another tower crane overlaps. Each installed tower crane location can be processed as coordinates. The relative position or direction of each tower crane can be input as data.

The structure data of the tower crane may be information or data about the structure of the tower crane itself. Tower crane structure data may be different for each installed tower crane. Depending on whether it is a T-type tower crane or a roughing-type tower crane, the structure of the tower crane itself may be different, and the height of the tower crane may be different. The length of jib and counter jib can also be different for each tower crane. The roughing undulation angle of the roughing tower crane may also be different for each crane.

The movement data of the tower crane obtained from the direction sensing unit may include the turning direction of the tower crane, the moving direction of the trolley, the moving direction of the hook, and the vertical movement direction of the jib of the roughing type tower crane.

The moving speed data of the tower crane obtained from the speed detection unit may include the turning speed of the tower crane, the forward and backward movement speed of the trolley, the speed of the roughing operation (change of the undulation angle) of the roughing tower crane, and the vertical movement speed of the hook. .

The controller may calculate a moving path of the tower crane in real time based on the data and the like. In real time, it is possible to monitor the movement or movement of the tower crane in real time and calculate the mutual distance between a plurality of tower cranes. If the working radius of the tower crane overlaps at a site where multiple tower cranes are installed, there is a risk of the tower crane colliding. Such overlapping areas can be referred to as danger areas.

When tower cranes enter a dangerous area where there is a risk of collision with each other, conventionally, the speed was simply controlled to decrease or stop, but in the present invention, the speed of the tower crane before and after entering the dangerous area is additionally introduced as a determining factor of control. Through precise control, a practical anti-collision function of the tower crane is implemented. That is, in determining and controlling whether to issue an alarm, it is a key feature of the present invention that not only considers whether the tower crane has entered the danger zone, but also considers the moving speed of the crane.

In other words, if the speed after entering the danger zone is higher than the speed before entering or above the safe speed, the control unit sends a danger signal to trigger an alarm, so that within the danger zone, the alarm and control can be made to move or move at a speed less than the safety speed. have. In other words, after the tower crane enters the danger zone, it is possible to control not to transmit a danger signal only when the tower crane moves or moves at a speed less than the safe speed.

The safety speed can be set differently for each of the left and right turning speed of the tower crane, the forward and backward movement speed of the trolley, the roughing speed, and the vertical movement speed of the hook. In addition, since the height and relative position of each tower crane are all different, the safety speed can be set differently for each tower crane.

The alarm display unit may sound an alarm (alarm) by receiving a danger signal from the control unit. In addition, the predicted collision path can be displayed on the monitor so that it can be visually recognized immediately. The alarm display can be installed in the tower crane cab. The tower crane driver can safely operate the tower crane by reducing the moving speed of the tower crane or checking the direction accordingly when an alarm is issued on the alarm display.

The alarm display unit can display an alarm signal when a danger signal is received. The alarm display unit may include an alarm light, and the alarm light may be turned on when a danger signal is received. One or more alarm lights can be configured. For example, it may be provided in the same number as the number of adjacent tower cranes overlapping the turning radius of the tower crane. When the control unit receives the danger signal, by turning on only the alarm light corresponding to the tower crane corresponding to the danger signal, the operator can visually immediately determine which tower crane is at risk of collision.

Meanwhile, the alarm display unit may include an alarm bell. When the control unit receives a danger signal, an alarm bell sounds, so that the operator can immediately audibly determine the risk of collision. In addition, when the control unit receives a danger signal, a voice to identify the tower crane at risk of collision, for example, "Crash danger with Unit 1" or "Receive alarm signal from Unit 1", etc. By firing through, it is possible to allow an operator to immediately recognize a tower crane at risk of collision even if he does not see the alarm display.

The remote terminal may receive a danger signal from the control unit. The safety manager can check and manage the danger signal from the remote terminal. In the case of tower cranes, since they work at high places, the safety manager cannot but check the details of the work directly.In this remote terminal, information on the operation details and danger signals of the tower crane is displayed so that the safety manager can remotely control the tower crane. Remarkable convenience in on-site safety management can be improved by being able to check the operation status.

The storage unit may receive and store the operation state of the tower crane from the control unit. The operation state of the tower crane may include all information or data on the movement of the tower crane. For example, not only structural information or data of the tower crane itself, but also all information or data such as the direction and speed of movement may be included. All information about the operation of the tower crane can be stored, and this information can be used more efficiently in safety management at the current or new workplace.

The tower crane may be a T-type tower crane. At this time, the direction sensor may detect the turning direction of the tower crane and the moving direction of the trolley. The speed sensor can detect the turning speed of the tower crane and the moving speed of the trolley. The control unit can calculate the predicted collision path between jib and jib, jib and counter jib, and counter jib and counter jib between tower cranes of the same height. In addition, between tower cranes of different heights, the predicted collision path between the trolley position of the high tower crane and the jib or counter jib of the low tower crane can be calculated.

The tower crane may be a roughing type tower crane. In this case, the roughing sensor for detecting the roughing undulation angle may further include a roughing angle detecting unit for collecting data on the roughing angle. The direction sensor can detect the turning direction of the tower crane and the vertical movement direction of the jib (roughing direction). The speed sensor can detect the turning speed of the tower crane and the vertical movement speed of the jib (roughing speed). The control unit can calculate the roughing position of the high tower crane and the predicted collision path between the jib or counter jib of the low tower crane.

Another aspect of the present invention is a method of preventing a collision of a tower crane using a tower crane collision avoidance system on the front side, the step of detecting the moving direction and speed of the tower crane, coordinate data of the tower crane, The step of determining whether or not the tower crane has entered the danger zone where the tower crane may collide based on the structure data, the tower crane movement direction data, and the tower crane movement speed data, and when entering the danger zone, the speed after entry is greater than the speed before entry. Or, it may be a tower crane collision avoidance method comprising the step of sounding an alarm when it is above the safe speed.

This aspect relates to a method of preventing a collision of a tower crane using the tower crane collision avoidance system on the front side, and the matters on the tower crane collision prevention system on the front side are the same as described above.

First, it is possible to detect the moving direction and moving speed of the tower crane. The moving direction of the tower crane includes, for example, which direction the tower crane turns left and right, which direction the trolley moves forward or backward, which direction the hook moves up and down, and which direction the roughing direction is up and down. I can. The moving speed of the tower crane may include, for example, what is the turning speed of the tower crane, what is the moving speed before and after the trolley, what is the vertical roughing speed, what is the vertical moving speed of the hook, and the like.

The movement direction and movement speed can be continuously collected through various sensors attached to the tower crane. Through this, the movement of the tower crane can be monitored in real time, and it is possible to check where the tower crane is currently located.

Next, based on the coordinate data of the tower crane, the structure data of the tower crane, the movement direction data of the tower crane, and the movement speed data of the tower crane, it is possible to determine whether or not the tower crane has entered a danger zone where it may collide.

The main basic data used may be the coordinate data of the tower crane, the structure data of the tower crane, the movement data of the tower crane obtained from the direction detection unit, and the movement speed data of the tower crane obtained from the speed detection unit. However, it is not limited to such data or information, and other information or data may be used.

In order to calculate the collision risk of a tower crane, 1) installation specifications of the tower crane such as jib length, counter jib length, roughing length, and installation height, 2) tower crane arrangement coordinates, 3) structure arrangement coordinates and height, 4) tower crane Information on the movement (turning angle, trolley position in T-type tower crane, roughing angle in roughing type tower crane) is required.

Here, in case of 1), 2), and 3), it is determined in advance, but in case of 4), the tower crane motion data in real time by installing sensors such as a turning sensor, trolley distance sensor, and roughing sensor on the tower crane. It can be obtained by collecting.

In general, a plurality of tower cranes are installed on a construction site, and there is a fear that the tower cranes collide with each other when the working radius of one tower crane and another tower crane overlaps. Each installed tower crane location can be processed as coordinates. The relative position or direction of each tower crane can be input as data.

The structure data of the tower crane may be information or data about the structure of the tower crane itself. Tower crane structure data may be different for each installed tower crane. Depending on whether it is a T-type tower crane or a roughing-type tower crane, the structure of the tower crane itself may be different, and the height of the tower crane may be different. The length of jib and counter jib can also be different for each tower crane. The roughing undulation angle of the roughing tower crane may also be different for each crane.

The movement data of the tower crane obtained from the direction sensing unit may include the turning direction of the tower crane, the movement direction of the trolley, the vertical movement direction of the jib of the roughing type tower crane, and the movement direction of the hook.

The moving speed data of the tower crane obtained from the speed detection unit may include the turning speed of the tower crane, the forward and backward movement speed of the trolley, the speed of the roughing operation (change of the undulation angle) of the roughing tower crane, and the vertical movement speed of the hook. .

If the working radius of the tower crane overlaps at the site where a plurality of tower cranes are installed, there is a risk of the tower crane colliding, and such overlapping areas can be referred to as dangerous areas. It is possible to determine whether or not the currently operating tower crane has entered the danger zone by monitoring the movement or movement path of the tower crane in real time and calculating the mutual distance between a plurality of tower cranes.

Next, when entering a danger zone, an alarm (alarm) can be issued when the speed after entry is higher than the speed before entry or is higher than the safe speed.

When tower cranes enter a dangerous area where there is a risk of collision with each other, conventionally, the speed of the tower crane was simply reduced or stopped, but in the present invention, the speed of the tower crane before and after entering the dangerous area is additionally introduced as an alarm and control judgment factor. Thus, it is possible to implement a practical collision prevention of the tower crane through more precise control. In other words, in determining and controlling whether to issue an alarm, not only whether the tower crane has entered the danger zone, but also the moving speed of the crane is considered.

If the speed after entering the danger zone is higher than the speed before entering or above the safe speed, the control unit transmits a danger signal to trigger an alarm, so that within the danger zone, it can be alarmed and controlled to move or move at a speed less than the safety speed. In other words, after the tower crane enters the danger zone, it is possible to control not to transmit a danger signal only when the tower crane moves or moves at a speed less than the safe speed.

Additionally, an alarm signal or a danger signal can be transmitted wirelessly to a remote terminal. It is difficult for a tower crane driver operating at high altitude to always be aware of the risk of collision with adjacent tower cranes or structures while moving heavy objects. For this reason, it is necessary to transmit the tower crane's collision risk and movement speed warning status remotely so that a remote safety manager can recognize and check the status. A safety manager at a remote location can check the operation status of the tower crane based on the information displayed on the remote terminal. In other words, it is possible to identify the operation of the tower crane in a dangerous state, etc., so that on-site safety management can be performed more efficiently.

Additionally, the operation state of the tower crane may be received from the control unit and stored in the storage unit. The operation state of the tower crane may include all information or data on the movement of the tower crane. For example, not only structural information or data of the tower crane itself, but also all information or data such as the direction and speed of movement may be included. All information about the operation of the tower crane can be stored, and this information can be used more efficiently in safety management at the current or new workplace.

The terms used in the present invention are for describing specific embodiments and are not intended to limit the present invention. Singular expressions should be viewed as including plural meanings, unless the context is clear. Terms such as "comprise" or "have" are meant to mean the presence of features, numbers, steps, actions, components, or combinations thereof described in the specification, but are not intended to exclude them. The present invention is not limited by the above-described embodiments and the accompanying drawings, but is intended to be limited by the appended claims. Therefore, various types of substitutions, modifications and changes will be possible by those of ordinary skill in the art within the scope not departing from the technical spirit of the present invention described in the claims, and this should also be considered to be within the scope of the present invention. something to do.

100: mast 102: cockpit
103: jib 104: trolley
105: hoist wire 106: hook
107: counter jib 200: pivot

Claims (4)

A direction sensing unit that has a direction sensor capable of detecting a movement direction of the tower crane and collects movement direction data of the tower crane;
A speed sensing unit that has a speed sensor capable of detecting the moving speed of the tower crane and collects moving speed data of the tower crane;
Based on the coordinate data of the tower crane, the structure data of the tower crane, the movement data of the tower crane obtained from the direction detection unit, and the movement speed data of the tower crane obtained from the speed detection unit, the movement path of the tower crane is calculated in real time. When the distance between tower cranes is calculated and the tower crane enters a danger zone where tower cranes may collide with each other, a danger signal is transmitted when the speed after entry is higher than the speed before entry or above the safety speed, and the speed after entry is less than the speed before entry. A control unit that does not transmit a danger signal only when it is less than the already set safety speed;
An alarm display unit configured to receive a danger signal from the control unit, sound an alarm and display an expected collision path;
A remote terminal by receiving a danger signal from the control unit; And
A storage unit for receiving and storing the operation state of the tower crane from the control unit;
Containing, tower crane collision avoidance system.
The method of claim 1,
The tower crane is a T-type tower crane,
The direction sensor detects the turning direction of the tower crane and the moving direction of the trolley,
The speed sensor detects the turning speed of the tower crane and the moving speed of the trolley,
The control unit calculates the predicted collision path between jib and jib, jib and counter jib, and counter jib and counter jib between tower cranes of the same height, and between tower cranes with different heights, the trolley position of the high tower crane and the jib of the low tower crane are calculated. Tower crane collision avoidance system that calculates the predicted collision path with the counter jib.
The method of claim 1,
The tower crane is a roughing type tower crane,
It has a roughing sensor that detects the roughing undulation angle and further includes a roughing angle detection unit that collects data about the roughing angle,
The direction sensor detects the turning direction of the tower crane and the vertical movement direction of the jib (roughing direction),
The speed sensor detects the turning speed of the tower crane and the vertical movement speed of the jib (roughing speed),
The control unit calculates an expected collision path between the roughing position of the high tower crane and the jib or counter jib of the low tower crane.
A method of preventing a collision of a tower crane using the tower crane collision avoidance system of claim 1,
Sensing a moving direction and a moving speed of the tower crane;
Determining whether or not the tower crane has entered a dangerous area where there is a risk of collision based on the coordinate data of the tower crane, the structure data of the tower crane, the moving direction data of the tower crane, and the moving speed data of the tower crane; And
Sounding an alarm when the speed after entry is greater than the speed before entry or above the safe speed when entering the danger zone, and not sounding an alarm only when the speed after entry is less than the speed before entry and less than the already set safe speed;
Containing, tower crane collision avoidance method.

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